struct mp2p_icp::render_params_point_layer_t

Overview

Rendering options for each point layer, see metric_map_t::get_visualization()

#include <render_params.h>

struct render_params_point_layer_t
{
    // fields

    float pointSize = 1.0f;
    mrpt::img::TColor color {0x00, 0x00, 0xff, 0xff};
    bool force_alpha_channel = true;
    std::optional<color_mode_t> colorMode;
    bool render_voxelmaps_as_points = false;
    bool render_voxelmaps_free_space = false;
    bool hideBackFacing = false;
    float backFacingMaxAngleNormals_deg = 90.0f;
    float backFacingMaxAngleView_deg = 120.0f;

    // methods

    bool operator == (const render_params_point_layer_t& o) const;
    bool operator != (const render_params_point_layer_t& o) const;
};

Fields

float pointSize = 1.0f

Point size, in pixels (can be fractional). Zooming in (very close) into points show them as square patches.

mrpt::img::TColor color {0x00, 0x00, 0xff, 0xff}

Fixed color for all points in the layer. Ignored if colorMode is set.

bool force_alpha_channel = true

If set, it will overwrite the alpha (transparency) channel, even if using RGBA data from the original colored cloud

std::optional<color_mode_t> colorMode

If set, it overrides color and defines a “recolorize by coordinate” mode.

bool hideBackFacing = false

Hide points seen from behind, for point clouds with per-point “normal_{x,y,z}” or, otherwise, “view_{x,y,z}” fields (needs MRPT >= 3.5.4).

float backFacingMaxAngleNormals_deg = 90.0f

For hideBackFacing: max angle (degrees) between a point direction and the direction towards the camera for the point to be visible, when directions come from normals. 90 hides everything seen from behind.

float backFacingMaxAngleView_deg = 120.0f

Like backFacingMaxAngleNormals_deg, when directions come from view vectors, a rough proxy of the surface side (e.g. distant ground points have almost horizontal view vectors), hence a wider default.